Multi-functional end effector

A multifunctional end effector, characterized in that the multifunctional end effector comprises:

• a base (54) and a cutting tool (39);
• a feed slide (52) on the base (54), a feed driving mechanism used to drive the feed slide (52) to put the cutting tool (39) in motion;
• a swing slide (55) on the feed slide (52) and a swing driving mechanism used to drive the swing slide (55) to realize circular swing of the cutting tool (39);
• a mounting base (12) on the swing slide (55);
• the mounting base (12) is provided with a revolving rotation shaft (20) and a rotation shaft driving mechanism used to drive the revolving rotation shaft (20) and make the cutting tool (39) rotate;
• an eccentric slide (27) fixed to an end of the revolving rotation shaft (20);
• the cutting tool (39) is connected to an end of the eccentric slide (27) via an electric spindle (37);
• an eccentric regulating mechanism used to regulate the eccentric slide (27) to control radial bias of the cutting tool (39);
• wherein the eccentric regulating mechanism comprises a bearing seat (19) provided inside of the revolving rotation shaft (20), a bevel gear B (2) provided inside the bearing seat (19) for fixed connection with the large pulley A (6), an eccentric ball screw transmission pair (62) for transmission coordination between the eccentric slide (27) and the bevel gear shaft (4) and a cross guide pair (26) used to set the eccentric slide (27) into eccentric and linear motion;
• a ball screw inside the eccentric ball screw transmission pair (62) is installed with a bevel gear A (1) for engagement with the bevel gear B (2);
• the large pulley A (6) is driven by the eccentric shaft motor (64) installed on the mounting base (12).